CN107248276B - Intelligent networking automobile formation control method and device based on vehicle-road cooperation - Google Patents
Intelligent networking automobile formation control method and device based on vehicle-road cooperation Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
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- G08G1/00—Traffic control systems for road vehicles
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Abstract
The invention provides an intelligent networking automobile formation control method and device based on vehicle-road cooperation, which utilize the technical advantages of the vehicle-road cooperation to calculate the optimal speed through real-time acquisition and analysis of multi-source traffic information and a formation control algorithm, so that vehicles run at the optimal speed according to instructions in a formation state. The vehicle-mounted intelligent parking queuing system particularly solves the problem of parking queuing when vehicles enter an intersection, thereby achieving the purposes of improving the road operation efficiency and improving the road traffic capacity.
Description
Technical field
The invention belongs to bus or train route collaboration/intelligent networks to join automobile technical field, and in particular to one kind is based on bus or train route cooperative surroundings
By platooning's control to support vehicles driving safety, the control method and device of road passage capability are improved.
Background technique
With the continuous development of intelligent transportation and bus or train route coordination technique, advanced information collection, exchange technology hair
Exhibition is fused into real time data in order to possible, these promote the development of intelligent network connection automotive engineering and vehicle driving system.
Under wireless communications environment, intelligent network connection automobile can more easily perceive and obtain the environment and information of vehicles of surrounding, go forward side by side
Row analysis in real time, and then realize the fusion of bus or train route information and Collaborative Control.
It is the Intelligent System of Vehicle with advanced short-distance wireless communication Yu linking Internet function that intelligent network, which joins automobile, intelligence
Net connection automobile can acquire in real time from car state information and absolute position, and driving information to adjacent vehicle and surrounding enviroment information into
Row obtains.Steering instructions are communicated to driver by algorithm analysis and driving intention is sent to week with wireless communication technique
Side vehicle, have the characteristics that net connectionization with it is intelligentized.
Bus or train route cooperative system is that have the function of the acquisition of full space-time dynamic, fusion traffic information and can be with road coordinated
The system that safely instruction control is carried out to vehicle.Means acquire road, vehicle data and according to built-in in real time by wireless communication
Algorithm provides the functions such as whole dynamic dangerous information warning, drive advice guidance to driver.To realize that people's bus or train route cooperates with
Work has very big facilitation to safe and efficient traffic environment is formed.
Platooning's control system refers specifically to vehicle can be travelled in the form of queue and can root according to regulation following distance, speed
The control system of specific driver behavior is completed according to instruction.By formation control, road vehicle density can be effectively improved, is actively controlled
Vehicle processed avoids collision avoidance, reduces unnecessary speed-raising and brake.To increasing traffic controllability, improving road safety, section is realized
Energy emission reduction plays the role of very big.
From the current situation of current vehicle driving system it is found that existing driving assistance system can only pass through single sensing mostly
Device hazard recognition information simultaneously carries out early warning, and the driving behavior under different scenes can not be carried out effectively to differentiate and rationally divided
Analysis can not provide whole guidance dynamic in real time for driver.Wretched insufficiency is utilized simultaneously for acquired vehicle data,
System can not cannot also be analyzed by data by the fusion of multiple information so that vehicle obtains safer traveling guarantee and be
The offer of road traffic running optimizatin is more effectively instructed.For platooning's algorithm, mostly only using front truck as reference target, only
It is calculated based on two kinds of following distance, speed information, calculation method is relatively simple.And not from whole consideration, fail to utilize vehicle
The technical advantage of road collaboration obtains more comprehensively traffic information, so that the traffic circulation efficiency is reached maximization.
Summary of the invention
Insufficient for the above the relevant technologies, the present invention utilizes the advantage of bus or train route coordination technique, sets in conjunction with multi-source traffic data
Intelligent network connection automobile formation control method and device are counted out, provides timely, accurately driving directions control, support vehicles for vehicle
Operational safety improves road operational efficiency.Specifically adopt the following technical scheme that
Control method of the present invention includes the following steps:
(1) city signal intersection section is divided into and freely exercises region, buffer area and formation region, vehicle is slow
It rushes in region and establishes vehicle vehicle/bus or train route wireless communication, vehicle enters the laggard driving velocity modulation section control in formation region；
(2) judge the state of front signal light when navigator's vehicle reaches formation region: if front signal light is green light and green light
Remaining time navigator's vehicle enough is red light by intersection or front signal light and when navigator's vehicle reaches intersection can be not parking
By intersection, (3) are entered step；If front signal light is green light and remaining green time not enough navigator's vehicle passes through intersection,
Or front signal light is amber light or front signal light is that red light and navigator's vehicle cannot be entered when reaching intersection by intersection
Step (4)；
(3) if g(0)≧L/vl0, then the vehicle that navigates first keeps present speed to run, enters step (3.1)；If g(0)<L/vl0,
Enter step (3.2)；Wherein g(0)Residue green time when entering formation region for navigator's vehicle, L are formation zone length, vl0For
Navigator's vehicle enters the speed in formation region, vfFor the attainable the max speed of vehicle；
(3.1) when i-th Following Car enters formation region, navigator's vehicle slows down, and taking makes
The v of establishmentliMinimum value as navigator's vehicle slow down after speed；
Wherein vliNavigator's vehicle speed adjusted when entering formation region for i-th Following Car, g (i) are i-th Following Car
Remaining green time, x when into formation regioni(t) distance away from navigator's vehicle when entering formation region for i-th Following Car, a are
Guarantee the peak acceleration of vehicle comfort, H is Vehicle length, and γ, β are safe distance coefficient；
When (3.2) i-th Following Cars enter formation region, navigator's vehicle improves speed, and taking makes
The v of establishmentl(i+1)Minimum value as navigator's vehicle accelerate after speed；
Wherein vl(i+1)Navigator's vehicle speed adjusted when entering formation region for i+1 Following Car；
(4) when navigator's vehicle enters formation region, navigator's vehicle speed is adjusted to meet following formula:
Wherein vl1For navigator's vehicle speed adjusted, TgBright moment, T are opened for green light of lower period0Enter formation for navigator's vehicle
The region moment.
Preferably, buffer area length are as follows:
δ=tr·vmax
Wherein, δ is the length of buffer area；trThe required time is stably connected with for bus or train route connection setup；vmaxIt is current
Vehicle the max speed under category of roads.
Preferably, the range of formation zone length L are as follows:
Wherein, vmaxMaximum speed, G are run for urban road vehiclerFor green time, T is period, vminFor urban road
Vehicle runs minimum speed.
Preferably, in step (3.1), if vl0=vf, then navigator's vehicle speed is directly adjusted；If vl0<vf, followed when i-th
When vehicle enters formation region, first judge whether to meet:
If satisfied, then keeping navigator's vehicle speed constant, if not satisfied, then adjusting navigator's vehicle speed.
Control device of the present invention includes: RFID electronic tag for vehicles, is installed in front of windshield, for identification, is obtained
Vehicle essential information；GPS high accuracy positioning module, is installed on vehicle roof, for obtaining vehicle real-time position information；Ranging passes
Sensor is positioned on front side of bumper, is connect by CAN bus with auxiliary operation platform is driven；Vehicle speed sensor, can be by adopting
Collect speedometer signal wire to read IO pulse value, or install wheel speed Hall sensor additional, is installed on the inside of wheel, passes through IO bus
Connect key control unit；3-axis acceleration sensor is installed at car body geometric center, for detecting reality laterally and longitudinally
Acceleration information is connect by AD conversion with key control unit；Trackside controls equipment, is installed on intersection side, wraps
Traffic signaling equipment and communication equipment are included, the control and management for roadway sign intersection；Bus or train route communication unit, can be by wireless
Communication modes and other vehicles and trackside control equipment carry out information exchange, acquisition signal phase, timing and other vehicle sides
To information such as acceleration, longitudinal acceleration, speed, lane-change prompt, kinetic coefficients；Key control unit is installed on interior dry
Dry ventilation and heat is uniformly located, and database and control decision system are internally integrated；The control device connects vehicle by CAN bus
E-Gas brake system and ESP system；Key control unit is connected by CAN bus and drives auxiliary operation platform.
The invention has the following beneficial effects:
The technical advantage cooperateed with using bus or train route is calculated by the real-time acquisition analysis for multi-source traffic information, formation control
Method calculates optimal speed, makes vehicle under formation state, according to instruction with the operation of optimal speed.It especially solves vehicle and enters intersection
Mouth parking queuing phenomena, improves road operational efficiency to reach, promotes the purpose of road passage capability.
Detailed description of the invention
Fig. 1 is schematic diagram of a scenario of the present invention.
Fig. 2 is that vehicle passes through crossing schematic diagram.
Fig. 3 is control device functional structure chart.
Fig. 4 is control device installation site figure.
1-distance measuring sensor；2-multifunctional pick-up heads；3-RFID electronic tag for vehicles；4-GPS high accuracy positioning moulds
Block；5-3-axis acceleration sensors；6-bus or train route communication units；7-key control units；8-drive auxiliary operation platform；
9-electric brake throttle control systems；10-EPS electronic power assist steering systems.
Specific embodiment
(1) intelligent network based on bus or train route collaboration joins automobile formation control method
1, city signal intersection region division
As shown in Fig. 1 scene, section is divided into three regions, including freely exercises region, buffer area and formation region.
Wherein first car is navigator's vehicle, and subsequent vehicle is Following Car.Vehicle establishes vehicle vehicle/bus or train route wireless communication in buffer area, into
Enter the laggard driving velocity modulation section control in area of forming into columns.
In Fig. 1 scene, buffer area should meet formula (1) condition:
δ=tr·vmax
(1)
In formula (1), δ is the length of buffer area；trThe required time is stably connected with for bus or train route connection setup；vmax
For vehicle the max speed under present road grade.
2, formation area condition in intersection is set
Residue green time is insufficient to allow vehicle logical in current green time when vehicle enters formation region during green light
Intersection is crossed, therefore vehicle need to regulate the speed and pass through in next green time, therefore had:
As remaining green time is insufficient to allow vehicle logical in the green time to Fig. 2 vehicle if the A moment enters guidance field
Intersection is crossed, then the maximum value in region of forming into columns should meet, and vehicle reaches intersection at next green time end, and with minimum speed
Traveling, it may be assumed that
(gmin+T)vmin≥L
(2)
In formula (2), vminMinimum speed, g are run for urban road vehicleminPass through minimum used in intersection for vehicle
Green time is (gmin=L/vmax),vmaxMaximum speed is run for urban road vehicle, T is the period.
Formation region minimum value should meet: L >=vmaxGr
(3)
In formula (3), GrFor the green time of the phase.
To guarantee that the vehicle region that not parking can then form into columns by intersection should meet:
3, signal lamp state divides
When navigator's vehicle reaches formation region, signal lamp state set can be divided into according to the state of front signal light, it can
With its state demarcation is as shown in table 1:
1 state demarcation table of table
Wherein g[i]Front cross mouth residue green time, r when entering formation region for navigator's vehicle[i]Enter volume for navigator's vehicle
Front cross mouth residue red time, t=L/v when group areaf(vfFor free stream velocity).Signal lamp state set are as follows: y=
{(vi,ti)|g(i),g'(i),a(i),r(i),r'(i), wherein car speed constraint condition are as follows: vi(t)∈(0,vf], vfFor free flow
The attainable the max speed of speed, i.e. vehicle institute.The state of signal lamp has been merged:
(1) work as g[i]≤ t or r '[i]When < t, navigator's vehicle can pass through intersection in current green time, it is thus possible to be formed
Formation headed by navigator's vehicle passes through intersection at this time normal through intersection with a certain speed.(2) work as g '[i]< t or a[i]Or
r[i]When≤t, navigator's vehicle is in next green time by intersection, and navigator's vehicle need to regulate the speed logical in next green time at this time
Cross intersection.
4, navigator's vehicle judges in fleet
Signal lamp state is obtained when navigator's vehicle enters formation region and judge currently as signal condition one or signal condition two,
Speed guidance is carried out to navigator's vehicle simultaneously；
The vehicle that enters in this state can form formation, but be limited by fixation timing prevent fleet is not from all
Intersection is sailed out of in parking, therefore need to be judged each car for entering formation region；
Judged according to information such as queue real time length, live signal state, navigator's vehicle speeds, it can be if if the vehicle
Into queue autonomous formation and adjust queue speed, if cannot if be defaulted as next queue navigator vehicle；
5, platooning controls
(1) leader's vehicle is in situation a period of time (g[i]≤ t or r '[i]< t) enter formation region then:
If a) g(0)≧L/vl0, then vehicle of leading a group is first to be run with present speed
If vl0=vf, i-th Following Car judge whether there is v when entering formation regionliMeet that fleet is not parking to be passed through
Intersection is i.e.:
Wherein g(0)Residue green time, v when entering formation region for navigator's vehiclel0Enter the speed in formation region for navigator's vehicle
Degree, vliNavigator's vehicle speed adjusted when entering formation region for i-th Following Car, g (i) are that i-th Following Car enters formation
Remaining green time, x when regioni(t) distance away from navigator's vehicle when entering formation region for i-th Following Car, a are to guarantee vehicle
The peak acceleration of comfort, H are Vehicle length, and γ, β are safe distance coefficient.
vliIt is minimized as navigator's vehicle speed adjusted.
If vl0<vf, when i-th Following Car enters formation region, judge whether to meet:
If satisfied, then keeping navigator's vehicle speed constant, if not satisfied, navigator's vehicle speed need to be adjusted.To guarantee that fleet does not stop
Vehicle should then be met by intersection；
vliIt is minimized as navigator's vehicle speed adjusted.
If b) g(0)<L/vl0, then the vehicle that navigates need to improve speed, meets:
When i-th Following Car enters formation region, navigator's vehicle speed is adjusted, guarantees that fleet is not parking and is then answered by intersection
Meet；
vl(i+1)It is minimized as navigator's vehicle speed adjusted.
(2) navigator's vehicle is in two (g ' of situation[i]< t or a[i]Or r[i]≤ t) under enter formation region and then navigate at this time vehicle speed
It should adjust are as follows:
Wherein TgBright moment, T are opened for green light of lower period0Enter the formation region moment for navigator's vehicle.
Vehicle then meets when being again introduced into formation region:
Wherein vli=vl1, x (t) is that vehicle enters the distance between formation region moment and front truck, viFor i-th Following Car
Speed when into formation region, TiAt the time of entering formation region for i-th vehicle.
Two, the intelligent network based on bus or train route collaboration joins automobile formation control device
RFID electronic tag for vehicles is installed in front of windshield, for identification, obtains vehicle essential information；
GPS high accuracy positioning module, is installed on vehicle roof, for obtaining vehicle real-time position information；
Distance measuring sensor is positioned on front side of bumper, including radar, ultrasonic wave etc., by CAN bus and drives auxiliary
Operating platform connection；
Vehicle speed sensor can be read IO pulse value by acquisition speedometer signal wire, or install wheel speed hall sensing additional
Device is installed on the inside of wheel, connects key control unit by IO bus；
3-axis acceleration sensor is installed at car body geometric center, and for detecting reality, laterally and longitudinally acceleration is believed
Breath, is connect by AD conversion with key control unit；
Trackside controls equipment, is installed on intersection side, including traffic signaling equipment and communication equipment, believes for road
The control and management of number intersection；
Bus or train route communication unit includes: the communication modules such as WiFi, LTE-V or DSRC can pass through wireless communication mode and its
His vehicle and trackside control equipment carry out information exchange, and signal phase that gathering algorithm needs, timing, other vehicles laterally accelerate
The information such as degree, longitudinal acceleration, speed, lane-change prompt, kinetic coefficient；
Key control unit is installed on interior dry and ventilated heat dissipation uniformly place, is internally integrated database and control decision system
System；
Formation control device connects vehicle electric accelerator and brake system and ESP system by CAN bus.Vehicle electric throttle
Brake system and ESP system are substantially carried out feed speed control, wheel steering control；
Key control unit is connected by CAN bus and drives auxiliary operation platform, and driving auxiliary operation platform includes LCD liquid
Crystal display screen, speech sound alarming device.It is substantially carried out real-time traffic, the publication of control information, route planning shows that dangerous information mentions
Warn report and dynamic steering instructions guidance etc. functions.
Claims (4)
1. a kind of intelligent network based on bus or train route collaboration joins automobile formation control method, which comprises the steps of:
(1) city signal intersection section is divided into and freely exercises region, buffer area and formation region, vehicle is in buffer area
Vehicle vehicle/bus or train route wireless communication is established in domain, vehicle enters the laggard driving velocity modulation section control in formation region；
(2) judge the state of front signal light when navigator's vehicle reaches formation region: if front signal light is green light and green light residue
Time navigator's vehicle enough is that red light and navigator's vehicle not parking can pass through when reaching intersection by intersection or front signal light
Intersection enters step (3)；If front signal light is green light and remaining green time not enough navigator's vehicle passes through intersection or preceding
Square signal lamp is that amber light or red light and navigator's vehicle cannot enter step (4) by intersection when reaching intersection；
(3) if g(0)≥L/vl0, then the vehicle that navigates first keeps present speed to run, enters step (3.1)；If g(0)<L/vl0, into step
Suddenly (3.2)；Wherein g(0)Residue green time when entering formation region for navigator's vehicle, L are formation zone length, vl0For navigator's vehicle
Into the speed in formation region, vfFor the attainable the max speed of vehicle；
(3.1) when i-th Following Car enters formation region,
If vl0=vf, then navigator's vehicle speed is directly adjusted；
If vl0<vf, when i-th Following Car enters formation region, first judge whether to meet:
If satisfied, then keeping navigator's vehicle speed constant, if not satisfied, then adjusting the deceleration of navigator's vehicle, taking makes
The v of establishmentliMinimum value as navigator's vehicle slow down after speed；
Wherein vliNavigator's vehicle speed adjusted when entering formation region for i-th Following Car, g (i) are that i-th Following Car enters
Remaining green time, x when formation regioni(t) distance away from navigator's vehicle when entering formation region for i-th Following Car, a are to guarantee
The peak acceleration of vehicle comfort, H are Vehicle length, and γ, β are safe distance coefficient；
When (3.2) i-th Following Cars enter formation region, navigator's vehicle improves speed, and taking makes
The v of establishmentl(i+1)Minimum value as navigator's vehicle accelerate after speed；Wherein vl(i+1)Enter volume for i+1 Following Car
Navigator's vehicle speed adjusted when group area；
(4) when navigator's vehicle enters formation region, navigator's vehicle speed is adjusted to meet following formula:
Wherein vl1For navigator's vehicle speed adjusted, TgBright moment, T are opened for green light of lower period0When entering formation region for navigator's vehicle
It carves.
2. the intelligent network as described in claim 1 based on bus or train route collaboration joins automobile formation control method, which is characterized in that
Buffer area length are as follows:
δ=tr·vmax
Wherein, δ is the length of buffer area；trThe required time is stably connected with for bus or train route connection setup；vmaxFor present road
Vehicle the max speed under grade.
3. the intelligent network as described in claim 1 based on bus or train route collaboration joins automobile formation control method, which is characterized in that
The range of formation zone length L are as follows:
Wherein, vmaxMaximum speed, G are run for urban road vehiclerFor green time, T is period, vminFor urban road vehicle
Run minimum speed.
4. a kind of join automobile formation control method using the intelligent network as described in any one of claims 1-3 based on bus or train route collaboration
Control device, which is characterized in that the control device includes:
RFID electronic tag for vehicles is installed in front of windshield, for identification, obtains vehicle essential information；
GPS high accuracy positioning module, is installed on vehicle roof, for obtaining vehicle real-time position information；
Distance measuring sensor is positioned on front side of bumper, is connect by CAN bus with auxiliary operation platform is driven；
Vehicle speed sensor can be read IO pulse value by acquisition speedometer signal wire, or install wheel speed Hall sensor additional, peace
Loaded on the inside of wheel, key control unit is connected by IO bus；
3-axis acceleration sensor is installed at car body geometric center, for detecting reality laterally and longitudinally acceleration information, is led to
AD conversion is crossed to connect with key control unit；
Trackside controls equipment, is installed on intersection side, including traffic signaling equipment and communication equipment, hands over for roadway sign
The control and management of prong；
Bus or train route communication unit can control equipment by wireless communication mode and other vehicles and trackside and carry out information exchange, acquisition
Signal phase, timing and other vehicle lateral accelerations, longitudinal acceleration, speed, lane-change prompt, kinetic coefficient information；
Key control unit is installed on interior dry and ventilated heat dissipation uniformly place, is internally integrated database and control decision system；
The control device connects vehicle electric accelerator and brake system and ESP system by CAN bus；
Key control unit is connected by CAN bus and drives auxiliary operation platform.
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| CN106846867A (en) * | 2017-03-29 | 2017-06-13 | 北京航空航天大学 | Signalized intersections green drives speed abductive approach and analogue system under a kind of car networking environment |
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